Modeling and Simulation of Heterogeneous Traffic Flow in the Vicinity of Intersections Considering Communication Delay

With the rapid development and application of vehicle communication technology and autonomous driving technology, the traffic flow of freeways and urban roads will inevitably change from traditional traffic flow (all vehicles are controlled by human drivers) to heterogeneous traffic flow (including CACC and other autonomous vehicles). At present, in the field of heterogeneous traffic flow, scholars mostly take modeling and simulation as the means to study the impact of heterogeneous flow in the freeway scene, but few studies discuss the impact of heterogeneous traffic flow on urban roads, especially in the scene of signal control area. In view of this, taking the IDM model as the traditional traffic flow model and the ACC model proposed by University of California at Berkeley as an automatic driving model, this paper builds a heterogeneous traffic flow model in the vicinity of intersections at the background of typical urban traffic scene, and also preliminary explore the influence mechanism of the mix of autopilot on the traffic flow in the signal control area through simulation experiments, which can provide reference for the development and application of automatic driving technology.